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Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation.

Shuang Wu1, Tuo Zhao2, Yong Zhu1

  • 1Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695.

Proceedings of the National Academy of Sciences of the United States of America
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Summary
This summary is machine-generated.

This study introduces a modular soft robot inspired by caterpillars, using Kresling origami units for precise steering and locomotion. This design enables advanced functions like cargo manipulation and adaptable robot growth.

Keywords:
Kresling patternelectrothermal actuationorigamisoft robot

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Soft robots mimic natural locomotion, but steering control remains a challenge.
  • Caterpillar locomotion, particularly inching and crawling, inspires many soft robot designs.
  • Modular designs offer potential for enhanced functionality and adaptability in soft robotics.

Purpose of the Study:

  • To develop a modular soft robot capable of controlled steering and locomotion inspired by caterpillars.
  • To investigate the use of Kresling origami units as building blocks for segmented soft robots.
  • To enable precise curvature control for advanced robotic functions.

Main Methods:

  • Designed and fabricated a compact, lightweight Kresling origami structure.
  • Integrated electrothermal bimorph actuators using liquid crystal elastomer and polyimide.
  • Developed a multiunit soft robot with active and passive modules for locomotion and steering.
  • Demonstrated cargo pickup and assembly for steering functionality.

Main Results:

  • Successfully created a modular Kresling origami soft robot with electrothermal actuation.
  • Achieved bidirectional locomotion and precise steering control through modularity and reprogrammable actuation.
  • Demonstrated a functional prototype capable of picking up cargo and assembling for steering.
  • Validated the Kresling origami units as effective building blocks for caterpillar-inspired robots.

Conclusions:

  • Modular Kresling origami units provide a viable approach for caterpillar-inspired soft robot design.
  • The developed robot exhibits precise steering and locomotion capabilities.
  • This modular concept offers a pathway for future soft robots with growth, repair, and enhanced functionalities.